Strong Adaptive Attitude Tracking Controller Design with Dual-model Structure for Unmanned Helicopter

摘要：

　　The main objective of this research is to provide an efficient and flexible control approach for unmanned helicopter (UH) to overcome the major difficulties in aerodynamic parameter uncertainties.A strong adaptive tracking controller with dual-model structure,which has significant advantages of separating model tracking parameter design from adaptive control,is presented for the attitude control problem,and the system stability margin is improved in the process of adjustment parameter correction and tracking error is reduced.The sensors,noise influence on adjustable parameter correction has been reduced through adding a state filter behind the adjustable system.The efficiency and feasibility of this method are provided by flight test.

关键词： adaptive control decoupling unmanned helicopter flight test

作者: Sheng Shouzhao Sun Chenwu Duan Haibin Fahad Farooq Rana Javed Masood

作者单位: College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,China,210016 School of Automation Science and Electrical Engineering,BeiHang University,China,100191

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 162-167

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）